Previous Procedure Planning research has rarely reported experimental results in real robots. There remains a gap between offline training and real-world applications. To validate the possibility of applying procedural tasks in the real environment, we conduct experiments on "Reaching a block" (cf. Fig. REF ) using a Universal Robot UR5 system. This task while easy in simulation, but can be difficult for real robot [1]}, [2]}.
Our agent learns to achieve tasks by imitating expert demonstrations. After the RGB-D camera is installed in front of the manipulator, the observation space includes the raw RGB images at current position and goal position. The action space includes None, Up, Down, Left, Right, Forward, Backward. UR5 Reacher consists of episodes of interactions, where each episode is \(T\)  time steps long. The fingertip of UR5 Reacher is confined within a 3-dimensional 0.7m × 0.5m × 0.4m boundary. The robot is also constrained within a joint-angular boundary to avoid self-collision.
